Quaternion.h

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//
//
/*
    Copyright (C) 2000- 2005, Hammersmith Imanet Ltd
    SPDX-License-Identifier: Apache-2.0
    See STIR/LICENSE.txt for details
*/
 
#ifndef __stir_Quaternion_H__
#define __stir_Quaternion_H__
 
#include "stir/BasicCoordinate.h"
 
START_NAMESPACE_STIR
 
template <typename coordT>
class Quaternion : public BasicCoordinate<4, coordT> // TODO kris wants private inheritance
{
protected:
  typedef BasicCoordinate<4, coordT> base_type;
 
public:
  Quaternion();
  Quaternion(const coordT&, const coordT&, const coordT&, const coordT&);
  Quaternion(const base_type& q);
 
  /*coordT component_1() const;
  coordT component_2() const;
  coordT component_3() const;
  coordT component_4() const;*/
 
  // Overload multiplication
  inline Quaternion& operator*=(const coordT& a);
  inline Quaternion& operator*=(const Quaternion& q);
  inline Quaternion operator*(const Quaternion& q) const;
  inline Quaternion operator*(const coordT& a) const;
  // Overload division
  inline Quaternion& operator/=(const coordT& a);
  inline Quaternion& operator/=(const Quaternion& q);
  inline Quaternion operator/(const Quaternion& q) const;
  inline Quaternion operator/(const coordT& a) const;
 
  inline void neg_quaternion();
  inline void conjugate();
  inline void normalise();
  inline void inverse();
  inline static coordT dot_product(const Quaternion&, const Quaternion&);
 
private:
};
 
template <typename coordT>
inline Quaternion<coordT> conjugate(const Quaternion<coordT>&);
 
template <typename coordT>
inline Quaternion<coordT> inverse(const Quaternion<coordT>&);
 
template <typename coordT>
inline coordT norm_squared(const Quaternion<coordT>& q);
 
template <typename coordT>
inline coordT norm(const Quaternion<coordT>& q);
 
END_NAMESPACE_STIR
 
#include "stir_experimental/Quaternion.inl"
 
#endif